JP2021157203A - Mobile control device, mobile control method, and program - Google Patents

Abstract

To improve a method of presenting a course when a moving body moves.SOLUTION: A degree of relation with people around a moving object is determined, and based on that degree of relation, a traveling mode is set in which processing performed by a driving unit that moves the moving body and processing performed by an output unit that outputs an expression that presents the course of the moving body are associated with each other. The technique is applicable to, for example, an autonomously moving robot capable of moving in all directions.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a mobile control device and a mobile control method, and a program, and in particular, a mobile control device and a mobile control method that enable improvement in a method of presenting a course when the mobile moves. And about the program.

In recent years, it is expected that a situation in which a moving object such as a robot moves will become widespread in the human living environment. In such a situation, an operation that alerts the persons around the moving body by appropriately presenting the course when the moving body moves is considered.

For example, Patent Document 1 proposes a moving device that recognizes a distance to a person in the vicinity and can present a more detailed moving route by a direction indicating unit as the distance to the person is shorter. ..

Japanese Unexamined Patent Publication No. 2011-204145

By the way, as disclosed in Patent Document 1, when a moving body moves, the presentation method of presenting a course based on the distance to a person around the moving body presents the course regardless of the behavior of the person. I have something to do. Therefore, depending on the behavior of the person around the moving body, it is considered that the person may not be able to properly recognize the movement of the moving body, and it is required to improve the method of presenting the course. There is.

The present disclosure has been made in view of such a situation, and makes it possible to improve the method of presenting a course when a moving body moves.

The moving body control device on one aspect of the present disclosure is performed by a relationship degree determining unit that determines the degree of relationship with a person around the moving body and a driving unit that moves the moving body based on the relationship degree. It includes a setting unit for setting a traveling mode associated with processing and processing performed by an output unit that outputs an expression presenting the course of the moving body.

In the moving body control method of one aspect of the present disclosure, the moving body control device that controls the movement of the moving body determines the degree of relationship with a person around the moving body, and based on the degree of relationship. This includes setting a traveling mode associated with a process performed by the driving unit that moves the moving body and a process performed by the output unit that outputs an expression that presents the course of the moving body.

The program of one aspect of the present disclosure determines the degree of relationship with a person around the moving body to the computer of the moving body control device that controls the movement of the moving body, and the program is based on the degree of relationship. Execution of mobile control including processing performed by the driving unit that moves the moving body and setting a traveling mode associated with processing performed by the output unit that outputs an expression that presents the course of the moving body. Let me.

In one aspect of the present disclosure, the degree of relationship with a person around the moving body is determined, and based on the degree of relationship, the processing performed by the driving unit that moves the moving body and the course of the moving body are presented. A driving mode is set in which the processing performed by the output unit that outputs the expression to be performed is associated.

According to one aspect of the present disclosure, it is possible to improve the method of presenting the course when the moving body moves.

The effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a figure which shows the structural example of one Embodiment of the mobile body control system to which this technique is applied. It is a hardware block diagram which shows the configuration example of an autonomous mobile robot. It is a figure which shows an example of the Mecanum wheel adopted as a drive part. It is a figure which shows various structural examples of a display part. It is a flowchart explaining a moving body control process. It is a figure explaining the relationship between a running pattern and a running mode. It is a figure which shows two kinds of passage A and passage B used for explaining the traveling pattern of an autonomous mobile robot. It is a figure explaining the structural example of the display part, and the display strength. It is a figure which shows an example of the course change in the traveling pattern A in the passage A. It is a figure which shows an example of the course change in the traveling pattern A in the passage B. It is a figure which shows an example of the course change in the traveling pattern B in the passage A. It is a figure which shows an example of the course change in the traveling pattern B in the passage B. It is a figure which shows an example of the course change in the traveling pattern C in the passage A. It is a figure which shows an example of the course change in the traveling pattern C in the passage B. It is a figure explaining the display maximum intensity of a traveling pattern C. It is a figure which shows an example of the course change in the traveling pattern D in the passage A. It is a figure which shows an example of the course change in the traveling pattern D in the passage B. It is a figure explaining the display maximum intensity of a traveling pattern D. It is a figure which shows an example of the course change in the traveling pattern E in the passage B. It is a figure explaining the display maximum intensity of a traveling pattern E. It is a figure explaining the calculation method of the display intensity based on a one-dimensional vector. It is a figure explaining the calculation method of the display intensity based on the distance of a two-dimensional plane. It is a figure which shows the variation of the display of the traveling direction. It is a figure explaining the spatial localization expression at the time of going straight. It is a figure explaining the spatial localization expression at the time of turning. It is a figure explaining the display control using the particle representation. It is a figure explaining the display control using a ripple expression. It is a figure explaining the display control using the contraction expression of a circle. It is a figure explaining the display control using the travel vector in the travel pattern D. It is a figure explaining the display control using the travel vector in the travel pattern D. It is a figure explaining the display control using the travel vector in the travel pattern D. It is a figure explaining the display control using the acceleration vector in the traveling pattern D. It is a figure explaining the display control using the acceleration vector in the traveling pattern D. It is a figure explaining the display control using the acceleration vector in the traveling pattern D. It is a figure explaining the display control which performs the preliminary operation expression. It is a figure explaining the display control which performs the preliminary operation expression. It is a figure explaining the display control which performs the preliminary operation expression. It is a figure explaining the display control which performs the preliminary operation expression. It is a figure explaining the display control at the time of two-unit cooperative movement. It is a figure explaining the display control at the time of four-unit cooperative movement.

Hereinafter, specific embodiments to which the present technology is applied will be described in detail with reference to the drawings.

<Configuration example of mobile control system>
FIG. 1 is a diagram showing a configuration example of an embodiment of a mobile control system to which the present technology is applied.

As shown in FIG. 1, the mobile control system 11 includes an autonomous mobile robot 12, a processing device 13, and a sensor module 14. For example, the mobile control system 11 is used in a human living environment, that is, a plurality of persons (in the example of FIG. 1, two persons, a standing person and a sitting person) are autonomous mobile robots. It is expected to be used in an environment such as being around 12.

The autonomous mobile robot 12 autonomously, for example, by executing a program that moves with the movement of a person, a program that moves away from the person to an arbitrary place, and the like, regardless of the operation by the person. You can make various movements. Further, the autonomous mobile robot 12 is provided with a display unit (see FIG. 4), and can present a course when moving to a person in the vicinity.

The processing device 13 is fixed in the environment in which the autonomous mobile robot 12 is used, and is based on, for example, inputs from various sensors included in the autonomous mobile robot 12 or inputs from the sensor module 14. The process of controlling the movement of the autonomous mobile robot 12 is executed.

The sensor module 14 is fixed in an environment in which the autonomous mobile robot 12 is used. For example, the processing device 13 senses various information required to control the movement of the autonomous mobile robot 12. , Input to the processing device 13.

The configuration example of the mobile control system 11 shown in FIG. 1 is an example. For example, the mobile control system 11 adopts a configuration in which the processing device 13 and the sensor module 14 are built in the mobile control system 11. can do. In addition, the mobile body control system 11 may adopt a configuration in which the processing device 13 and the sensor module 14 are provided as wearable devices that can be worn on a person's hand, head, body, or the like.

<Configuration example of autonomous mobile robot>
A configuration example of the autonomous mobile robot 12 will be described with reference to FIGS. 2 to 4.

FIG. 2 is a hardware block diagram showing a configuration example of the autonomous mobile robot 12.

As shown in FIG. 2, the autonomous mobile robot 12 includes an input unit 21, a calculation unit 22, a drive unit 23, and a display unit 24.

The input unit 21 is used for inputting information outside the autonomous mobile robot 12, and includes a laser ranging device 31, an RGB camera 32, a stereo camera 33, and an inertial measurement unit 34.

The laser ranging device 31 measures the distance to an object around the autonomous mobile robot 12 by detecting the reflected light of the laser beam emitted toward the periphery of the autonomous mobile robot 12, and determines the distance to the measured object. Acquire the distance measurement information to be shown.

The RGB camera 32 is composed of, for example, an image sensor equipped with a color filter, and acquires an RGB image by imaging the surroundings of the autonomous mobile robot 12.

The stereo camera 33 acquires two images by capturing the surroundings of the autonomous mobile robot 12 with two image sensors, and based on their parallax, a distance representing the distance to the subject captured in the image. Get an image.

The inertial measurement unit 34 is configured by, for example, a gyro sensor or the like, measures the angles and accelerations of the three axes generated by the movement of the autonomous mobile robot 12, and acquires the measurement results as inertial measurement information.

The input unit 21 is configured in this way, and the input information (that is, the distance measuring information, the RGB image, the distance image, etc.) acquired by the laser ranging device 31, the RGB camera 32, the stereo camera 33, and the inertial measurement unit 34. And inertial measurement information) is supplied to the calculation unit 22.

The input unit 21 recognizes a person by body temperature, such as a distance measuring sensor or depth sensor such as LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) for grasping the surrounding environment or obstacles. It may be configured to have the thermo camera of. Further, the input unit 21 may be configured to have a sound collecting device that collects ambient sounds, and can recognize the direction in which a person is present by voice. Further, a plurality of sensor modules (for example, the sensor module 14 in FIG. 1) for performing various sensing are arranged in an environment in which the autonomous mobile robot 12 is used, and the input unit 21 and the sensor modules are arranged. It can be configured to perform communication.

The calculation unit 22 is used to control the drive unit 23 and the display unit 24 according to an operation based on external information input via the input unit 21, and is used for the CPU 41, the GPU 42, the auxiliary storage device 43, and the storage device. It is configured to have 44.

The CPU (Central Processing Unit) 41 reads and executes the control program stored in the auxiliary storage device 43. Then, the CPU 41 refers to the distance measurement information and the inertial measurement information supplied from the input unit 21, various information stored in the storage device 44, the real-time image processing result by the GPU 42, and the like, and the autonomous mobile robot 12 A moving body control process (see the flowchart of FIG. 5) that controls movement and display is performed.

The GPU (Graphics Processing Unit) 42 recognizes a person or the like around the autonomous mobile robot 12 in real time (sequentially according to the supply) with respect to the RGB image and the distance image supplied from the input unit 21. Processing is performed, and the processing result is supplied to the CPU 41.

The auxiliary storage device 43 is composed of, for example, a RAM (Random Access Memory), and reads and stores a control program from the storage device 44.

The storage device 44 is configured by, for example, an EEPROM (Electronically Erasable and Programmable Read Only Memory), and stores a control program executed by the CPU 41, various information required when the CPU 41 performs mobile control processing, and the like.

The calculation unit 22 is configured in this way, and based on the input information supplied from the input unit 21, various calculations associated with the movement of the autonomous mobile robot 12 are performed to create an action plan for the autonomous mobile robot 12. decide. Then, the calculation unit 22 can perform drive control for the drive unit 23 and display control for the display unit 24 based on this action plan.

Further, as will be described later, the calculation unit 22 absorbs the difference in behavior that differs depending on the type of the drive unit 23. The calculation unit 22 is not limited to the configuration built in the autonomous mobile robot 12, and is not limited to the configuration, and is calculated in an environment in which the autonomous mobile robot 12 is used, for example, as in the processing device 13 of FIG. 22 can be fixed and used. Thereby, for example, the size of the autonomous mobile robot 12 can be reduced.

The drive unit 23 is used to move the autonomous mobile robot 12 according to drive control by the calculation unit 22, and includes a plurality of motor control circuits 51, a plurality of drive motors 52, and a plurality of encoders 53. NS.

The motor control circuit 51 controls the drive motor 52 so as to behave according to the drive control by the calculation unit 22.

The drive motor 52 realizes the movement of the autonomous mobile robot 12 by driving according to the control by the motor control circuit 51.

The encoder 53 detects the drive information (rotation amount, rotation angle, rotation position, etc.) of the drive motor 52, and converts the drive information into the calculation unit 22 in order to realize the drive according to the drive control by the calculation unit 22. Give feedback to.

Here, the autonomous mobile robot 12 can adopt a Mecanum wheel that can move in all directions as the drive unit 23. For example, as shown in FIG. 3, in the drive unit 23, four Mecanum wheels 72-1 to 72-4 are mounted on the housing 71 in which the input unit 21, the calculation unit 22, and the like are built. It can be configured.

The Mecanum wheels 72-1 to 72-4 are mounted at four locations on the front and rear of both side surfaces of the housing 71, for example, in the same manner as a normal vehicle. A plurality of rollers are rotatably attached to the outer circumference of the Mecanum wheels 72-1 to 72-4, and the rotation axes of these rollers are the rotation axes (axles) of the Mecanum wheels 72-1 to 72-4. Has a predetermined angle with respect to.

For example, the drive unit 23 can move the housing 71 forward or backward by driving the mecanum wheels 72-1 to 72-4 so as to rotate in the same direction. Further, the drive unit 23 rotates the housing 71 by driving the Mecanum wheels 72-1 and 72-2 and the Mecanum wheels 72-3 and 72-4 so as to rotate in opposite directions. Can be done. Then, the drive unit 23 changes the direction of the housing 71 by driving the Mecanum wheels 72-1 and 72-3 and the Mecanum wheels 72-2 and 72-4 so as to rotate in opposite directions. The housing 71 can be moved to the right or left without doing so. In addition, the drive unit 23 can move the housing 71 in any direction by appropriately controlling the rotation of the mecanum wheels 72-1 to 72-4.

The autonomous mobile robot 12 may adopt various types of drive modes other than the Mecanum wheels 72-1 to 72-4 for the drive unit 23. For example, as the autonomous mobile robot 12, a vehicle-type robot, a multi-legged robot including bipedal walking, an aerodynamic robot such as a drone / hovercraft, a flying robot, or the like can be adopted. Further, as the autonomous mobile robot 12, an underwater robot such as an ROV (Remotely operated vehicle) can be adopted.

The display unit 24 is used to present a course to a person around the autonomous mobile robot 12 according to display control by the calculation unit 22, and includes a plurality of output devices 61.

For example, the output device 61 can be composed of a plurality of LEDs (Light Emitting Diodes), a plurality of projectors, and a plurality of displays (such as a liquid crystal panel and an organic EL (Electro Luminescence) panel).

Here, FIG. 4 shows various configuration examples of the display unit 24 that displays over the entire side surface of the housing in a configuration in which the housing of the autonomous mobile robot 12 is square in a plan view. ing.

For example, as shown in FIG. 4A, the display unit 24A is composed of a plurality of LEDs arranged in a line along the circumferential direction on four side surfaces of the housing of the autonomous mobile robot 12A. Further, as shown in B of FIG. 4, the display unit 24B is configured by a projector provided so as to project an image from each of the four side surfaces of the housing of the autonomous mobile robot 12B onto the surrounding floor. Further, as shown in C of FIG. 4, the display unit 24C is configured as four side surfaces of the housing of the autonomous mobile robot 12C by displays incorporated in each side surface.

In addition, the display unit 24 includes a projector that projects an image on the side surface of the housing of the autonomous mobile robot 12, and a plurality of LEDs that are three-dimensionally arranged on the side surface of the housing of the autonomous mobile robot 12. It may be configured by. Further, the display unit 24 may be provided on the top surface of the housing of the autonomous mobile robot 12. Further, the housing of the autonomous mobile robot 12 may be formed in a flat shape or may have a rounded shape, or a point light source such as an LED array may be arranged one-dimensionally to form the display unit 24. good.

Further, in the configuration in which the projector is used for the display unit 24, the number of projectors corresponding to the number of side surfaces of the housing of the autonomous mobile robot 12 is used, and one projector is enlarged by using a fisheye lens or the like. You may go. Further, a projector capable of driving two axes may be installed in the housing of the autonomous mobile robot 12 to project an image in a required direction.

Further, the display unit 24 may be configured not to be mounted on the autonomous mobile robot 12 if the purpose of presenting a course to a person around the autonomous mobile robot 12 can be achieved. That is, a projection device such as a projector may be arranged in the environment where the autonomous mobile robot 12 is used (for example, the position of the sensor module 14 in FIG. 1) to project an image. Alternatively, a person may wear an AR (Augmented Reality) glass, which is a wearable terminal that superimposes an image on the real space, and display the image on the AR glass.

In addition, as the output means of the autonomous mobile robot 12, voice may be used in addition to the video, and for example, a configuration may be adopted in which a person is presented with a course by the voice output from the speaker. For example, it is effective to use the sound together with the video in a situation where the person around the autonomous mobile robot 12 does not notice the course only by expressing the video by the display unit 24.

In this way, the autonomous mobile robot 12 is configured, and the moving body control process is performed in the calculation unit 22, so that the drive control for the drive unit 23 and the display control for the display unit 24 are executed. Then, in the mobile body control process, the arithmetic unit 22 determines the autonomous mobile robot 12 according to the degree of relationship between the autonomous mobile robot 12 and a person (hereinafter, referred to as a surrounding person) around the autonomous mobile robot 12. The traveling mode when the 12 moves can be set.

For example, the calculation unit 22 determines the degree of relationship based on the determination of whether or not the autonomous mobile robot 12 is acting together with the surrounding person and whether or not there is a surrounding person who can visually recognize the autonomous mobile robot 12. decide. Here, the degree of relationship determines the behavior performed by the autonomous mobile robot 12 based on the relationship between the autonomous mobile robot 12 and surrounding people (such as the presence or absence of surrounding people and the behavior content of the autonomous mobile robot 12). This is the information used at the time. For example, the closer the relationship between the autonomous mobile robot 12 and the surrounding person is, the higher the relationship is, and the closer the relationship between the autonomous mobile robot 12 and the surrounding person is, the lower the relationship is.

Then, the calculation unit 22 sets a traveling mode in which the autonomous mobile robot 12 moves and presents a course, which acts to improve the sense of security of the surrounding person as the degree of relationship with the surrounding person increases. Set. As a result, the autonomous mobile robot 12 can appropriately recognize the movement of the autonomous mobile robot 12 even when used in a human living environment, and can be operated more safely.

Further, by adopting the Mecanum wheel 72 as shown in FIG. 3, the autonomous mobile robot 12 can change the direction of travel without being restricted by the direction of the housing. Since there is no restriction on the traveling direction as described above, the surrounding person cannot know the traveling direction and the attention direction of the autonomous mobile robot 12 in advance. Therefore, when the autonomous mobile robot 12 is used in a human living environment, it is assumed that the sense of security is reduced, but as described above, the traveling mode is set according to the degree of relationship with surrounding persons. By setting it appropriately, it is possible to avoid such a decrease in the sense of security.

Further, as shown in FIG. 4, the autonomous mobile robot 12 has a configuration in which display units 24 are provided on all side surfaces of the housing of the autonomous mobile robot 12, so that the autonomous mobile robot 12 is not only in front of the autonomous mobile robot 12 but also on the side. It is possible to present the course to either the direction or the rear.

<Mobile control processing>
FIG. 5 is a flowchart illustrating a mobile body control process in which the calculation unit 22 controls the movement of the autonomous mobile robot 12.

For example, the mobile body control process is executed when the autonomous mobile robot 12 starts moving, and in step S11, the calculation unit 22 of the autonomous mobile robot 12 is based on the input information supplied from the input unit 21. Performs a person detection process that detects people around you.

In the person detection process, in addition to the RGB image acquired by the RGB camera 32 of the input unit 21, for example, the RGB image acquired by the sensor module 14 in FIG. 1 and the thermo image acquired by a thermo camera (not shown) are used. You may. Further, a person may be detected by motion detection using a LIDAR or a depth sensor (not shown). Alternatively, it may be determined whether or not the person is in the vicinity of the autonomous mobile robot 12 by communicating with the wearable terminal worn on the body of the person.

In step S12, the calculation unit 22 performs an action content recognition process for recognizing the action content of the autonomous mobile robot 12 itself executed by the movement started by the autonomous mobile robot 12. For example, the autonomous mobile robot 12 moves according to an action content that follows a person, an action content that leads the person to move, an action content that moves with the person, a command from the person, or a voluntary judgment. Execute the action content to be performed, the action content to move separately from the person, and the like. Therefore, the calculation unit 22 recognizes which of those action contents is to be executed.

In step S13, the calculation unit 22 determines the degree of relationship between the autonomous mobile robot 12 and surrounding people based on both the detection result of the person detection process in step S11 and the recognition result of the action content recognition process in step S12. decide. For example, the calculation unit 22 performs a calculation for scoring a combination of the presence / absence of a peripheral person according to the detection result of the person detection process and the various action contents as described above according to the recognition result of the action content recognition process. , The score obtained by the calculation can be determined as the degree of relationship. The calculation unit 22 may determine the degree of relationship based on either the detection result of the person detection process or the recognition result of the action content recognition process.

In step S14, the calculation unit 22 determines whether or not the autonomous mobile robot 12 moves together with the surrounding person based on the degree of relationship with the surrounding person determined in step S13.

If the calculation unit 22 determines in step S14 that the autonomous mobile robot 12 moves together with the surrounding people, the process proceeds to step S15. In step S15, the calculation unit 22 changes the direction of the housing when changing the course and sets the traveling mode 1 to travel, and then the process proceeds to step S19.

On the other hand, if the calculation unit 22 determines in step S14 that the autonomous mobile robot 12 does not move with the surrounding person (that is, moves separately from the surrounding person), the process proceeds to step S16. In step S16, the calculation unit 22 determines whether or not there is a surrounding person who can visually recognize the autonomous mobile robot 12 based on the degree of relationship with the surrounding person determined in step S13.

If the calculation unit 22 determines in step S16 that there is a person around the autonomous mobile robot 12 who can see the robot 12, the process proceeds to step S17. In step S17, the calculation unit 22 sets the travel mode 2 in which the vehicle travels by expressing the traveling direction and the direction change in order to present the course, and then the process proceeds to step S19.

On the other hand, in step S16, when the calculation unit 22 determines that there is no visible surrounding person for the autonomous mobile robot 12, the process proceeds to step S18. In step S18, the calculation unit 22 sets the traveling mode 3 in which the vehicle travels without expressing the traveling direction and the direction change for presenting the course and without changing the direction of the housing when changing the course. After that, the process proceeds to step S19.

In step S19, the calculation unit 22 performs drive control on the drive unit 23 and display control on the display unit 24 based on the travel mode determined in step S15, step S17, or step S18, and then controls the moving body. The process is terminated.

By executing the above-mentioned mobile body control process, the autonomous mobile robot 12 switches and sets the autonomous mobile robot 12 in three traveling modes 1 to 3 based on the degree of relationship with surrounding people. be able to.

For example, the autonomous mobile robot 12 sets a traveling mode 1 in which the robot 12 changes the direction of the housing when changing the course and travels when the relationship of moving with a surrounding person is the highest. As a result, the autonomous mobile robot 12 travels so that the front in the housing direction always faces the traveling direction, so that the surrounding person can easily recognize the traveling direction by the housing direction of the autonomous mobile robot 12. be able to. In this case, the autonomous mobile robot 12 does not travel in a way that the surrounding people cannot easily recognize, such as changing the course toward the side in the direction of the housing, and the sense of security can be improved.

Further, the autonomous mobile robot 12 does not move with the surrounding person, but has a degree of relationship (lower relationship than moving with the surrounding person) to the extent that there is a visible surrounding person. Sets the traveling mode 2 in which the vehicle travels by expressing the traveling direction and the direction change in order to present the course. As a result, the autonomous mobile robot 12 presents the course in terms of the direction of travel and the change of direction when traveling so as to change the course toward the side in the direction of the housing, thereby causing the surrounding person to know the course. The course of the autonomous mobile robot 12 can be reliably recognized.

Then, when the autonomous mobile robot 12 does not move with the surrounding person and the degree of relation that there is no visible surrounding person is the lowest, the traveling direction and the direction change for presenting the course are changed. A traveling mode 3 is set in which the vehicle travels without expression and without changing the direction of the housing when changing the course. That is, in this case, since it is not necessary for the surrounding person to recognize the course of the autonomous mobile robot 12, the autonomous mobile robot 12 does not present the course and travels efficiently (for example, the front in the housing direction). It is inefficient to drive in the direction of travel).

As described above, the autonomous mobile robot 12 can improve the method of presenting the course by performing the drive control and the display control in the traveling mode according to the degree of relationship with the surrounding person. For example, it is possible to present a course that improves the sense of security as the degree of relationship with the surrounding person is higher, or to present a course that acts to reduce the learning load of the surrounding person (driving, expression, etc.).

The calculation unit 22 may set the traveling mode in consideration of the action content by using the recognition result itself of the action content recognition process in step S12 as the degree of relationship. For example, the calculation unit 22 can set the traveling mode 1 when the recognition result of the action content recognition process indicates that the autonomous mobile robot 12 moves together with a surrounding person. Similarly, the calculation unit 22 may set the traveling mode in consideration of the presence or absence of surrounding persons by using the detection result itself of the person detection process in step S11 as the degree of relationship. For example, the calculation unit 22 sets the traveling mode 2 when the detection result of the person detection process indicates that there is a surrounding person, and sets the traveling mode 3 when it indicates that there is no surrounding person. Can be set.

Here, the three traveling modes 1 to 3 of the autonomous mobile robot 12 determine whether or not to change the direction of the housing when changing the course, and the traveling direction and the direction change for presenting the course. It can be applied to five running patterns based on whether or not the expression of is performed.

The relationship between the traveling pattern and the traveling mode in the autonomous mobile robot 12 will be described with reference to FIG.

As shown in FIG. 6, in the traveling patterns A to E, whether or not the traveling direction and the direction change are expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12, and the autonomous mobile robot. It is classified according to the combination of whether or not the driving unit 23 for changing the course of the twelve is driven to change the direction.

In the traveling pattern A, the traveling direction and the direction change are not expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12. Further, in the traveling pattern A, the driving unit 23 for changing the course of the autonomous mobile robot 12 does not drive the direction change.

In the traveling pattern B, the traveling direction and the direction change are not expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12. Further, in the traveling pattern B, the driving unit 23 for changing the course of the autonomous mobile robot 12 drives the direction change.

In the traveling pattern C, the display unit 24 expresses the traveling direction for presenting the course of the autonomous mobile robot 12, and the display unit 24 does not express the direction change. Further, in the traveling pattern C, the driving unit 23 for changing the course of the autonomous mobile robot 12 drives the direction change.

In the traveling pattern D, the traveling direction and the direction change are expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12. Further, in the traveling pattern D, the driving unit 23 for changing the course of the autonomous mobile robot 12 does not drive the direction change.

In the traveling pattern E, the traveling direction and the direction change are expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12. Further, in the traveling pattern E, the driving unit 23 for changing the course of the autonomous mobile robot 12 drives the direction change.

Therefore, as described with reference to the flowchart of FIG. 5, in the traveling mode 1 set when the autonomous mobile robot 12 moves together with the surrounding people, the driving unit 23 is used to change the course. A travel pattern B or C in which the direction change is driven is applied.

Further, in order to present a course in the traveling mode 2 set when the autonomous mobile robot 12 does not move with the surrounding person and there is a surrounding person who can see the autonomous mobile robot 12. A traveling pattern D or E in which the traveling direction and the direction change are expressed by the display unit 24 is applied.

Further, in order to present a course in the traveling mode 3 set when the autonomous mobile robot 12 does not move with the surrounding person and there is no surrounding person who can see the autonomous mobile robot 12. A traveling pattern A is applied in which the display unit 24 does not express the traveling direction and the direction change, and the driving unit 23 does not drive the direction change in order to change the course.

Here, the traveling patterns of the autonomous mobile robot 12 with respect to the two types of passages A and B as shown in FIG. 7 will be described below.

That is, A in FIG. 7 shows a passage A in which the course bends in units of 90 °. Therefore, for example, when the housing of the autonomous mobile robot 12 is square, the direction of the side surface of the autonomous mobile robot 12 and the direction in which the path turns coincide with each other.

Further, B in FIG. 7 shows a passage B in which the passage bends at an angle other than 90 ° (for example, an acute angle as shown in the figure). Therefore, for example, when the housing of the autonomous mobile robot 12 is square, the direction of the side surface of the autonomous mobile robot 12 and the direction in which the course turns do not match.

The passage points P1 to P4 shown in FIG. 7 indicate points in the passage A and the passage B where the drive control and display control of the autonomous mobile robot 12 are changed. For example, the passage point P1 indicates a point where drive control is performed so as to start traveling, and the passage point P2 indicates a point where drive control is performed so as to stop traveling in order to reach a corner. Further, the passage point P3 indicates a point at which the drive control at the time of turning or the like ends at a corner, and the passage point P4 indicates a point at which the drive control is performed so as to end the traveling.

With reference to FIG. 8, a configuration example in which a plurality of light emitting units are arranged in a line to form a display unit 24 of the autonomous mobile robot 12 and a light emitting intensity of the light emitting unit in the configuration example will be described.

A of FIG. 8 shows a configuration example of the display unit 24, and B of FIG. 8 shows an example of the emission intensity of the light emitting unit of the display unit 24.

In A of FIG. 8, the configuration of the display unit 24 is simply shown. The housing of the autonomous mobile robot 12 is a square, and each side surface of the outer circumference thereof is divided into five, and 16 light emitting units L1 to L16 are formed. It is an arranged configuration example. For example, the direction indicated by the black arrow is the front of the autonomous mobile robot 12 in the housing direction, the light emitting unit L1 is assigned to the front right end of the autonomous mobile robot 12, and the light emitting units L2 to L16 are sequentially arranged counterclockwise. Assigned. Further, in the following description, the front in the housing direction is 0 °, the right side in the housing direction (the direction of bending in the passage A in FIG. 7) is 90 ° in the clockwise direction, and the right rear in the housing direction (FIG. 7). The direction of turning in the passage B of 7) is 135 °.

Therefore, when the autonomous mobile robot 12 moves toward the front in the housing direction, the display unit 24 maximizes the display intensity of the light emitting unit L3 arranged in the front center portion in the housing direction according to the traveling direction. By doing so, the direction of travel can be expressed.

In FIG. 8B, the display unit 24 expresses the traveling direction with a gradation that becomes darker as the display intensity increases and becomes lighter as the display intensity decreases. Therefore, when the autonomous mobile robot 12 moves toward the front in the housing direction and the display intensity of the light emitting unit L3 is the highest, the display intensity in the front center portion in the housing direction is the highest.

<Course change according to driving pattern>
With reference to FIGS. 9 to 20, drive control and display control when changing the course according to the traveling patterns A to E shown in FIG. 6 will be described.

FIG. 9 shows an example of a course change in the traveling pattern A in the passage A, and FIG. 10 shows an example of the course change in the traveling pattern A in the passage B.

As shown in FIG. 9, in the passage A, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and the passage point P2. Drive control is performed on the drive unit 23 so as to stop after moving to. Then, the calculation unit 22 changes the traveling direction so as to move from the passage point P3 to the right (90 °) in the housing direction without changing the direction of the housing of the autonomous mobile robot 12, and resumes the movement. Drive control is performed on the drive unit 23 so as to be performed, and drive control is performed on the drive unit 23 so as to stop after moving to the passage point P4. In the traveling pattern A, the calculation unit 22 does not perform display control on the display unit 24 while these drive controls are performed.

As shown in FIG. 10, in the passage B, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and the passage point P2. Drive control is performed on the drive unit 23 so as to stop after moving to. Then, the calculation unit 22 changes the traveling direction so as to move from the passage point P3 to the right rear (135 °) in the housing direction without changing the direction of the housing of the autonomous mobile robot 12, and resumes the movement. Drive control is performed on the drive unit 23 so as to be performed, and drive control is performed on the drive unit 23 so as to stop after moving to the passage point P4. In the traveling pattern A, the calculation unit 22 does not perform display control on the display unit 24 while these drive controls are performed.

As described above, in the traveling pattern A, the traveling direction and the direction change are not expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12, and the course of the autonomous mobile robot 12 is changed. The drive unit 23 does not drive the change of direction. Therefore, in the traveling pattern A, the autonomous mobile robot 12 keeps the housing direction in a fixed direction so as to move in parallel without presenting the traveling direction and the direction change in both the passage A and the passage B. Change course.

FIG. 11 shows an example of a course change in the traveling pattern B in the passage A, and FIG. 12 shows an example of the course change in the traveling pattern B in the passage B.

As shown in FIG. 11, in the passage A, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and the passage point P2. Drive control is performed on the drive unit 23 so as to stop after moving to. Then, the calculation unit 22 is driven so as to change the housing direction of the autonomous mobile robot 12 by 90 ° by rotating clockwise and then restart the movement from the passage point P3 toward the front (0 °) in the housing direction. Drive control is performed on the drive unit 23, and drive control is performed on the drive unit 23 so as to stop after moving to the passage point P4. In the traveling pattern B, the calculation unit 22 does not perform display control on the display unit 24 while these drive controls are performed.

As shown in FIG. 12, in the passage B, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and the passage point P2. Drive control is performed on the drive unit 23 so as to stop after moving to. Then, the calculation unit 22 is driven so as to change the housing direction of the autonomous mobile robot 12 by 135 ° by rotating clockwise and then restart the movement from the passage point P3 toward the front (0 °) in the housing direction. Drive control is performed on the drive unit 23, and drive control is performed on the drive unit 23 so as to stop after moving to the passage point P4. In the traveling pattern B, the calculation unit 22 does not perform display control on the display unit 24 while these drive controls are performed.

As described above, in the traveling pattern B, the traveling direction and the direction change are not expressed by the display unit 24 for presenting the course of the autonomous moving robot 12, but the course of the autonomous moving robot 12 is changed. The driving unit 23 of the above drives the direction change. Therefore, in the traveling pattern B, the autonomous mobile robot 12 changes the course by changing the housing direction according to the angle of the passage without presenting the traveling direction and the direction change in both the passage A and the passage B. conduct.

FIG. 13 shows an example of a course change in the traveling pattern C in the passage A, and FIG. 14 shows an example of the course change in the traveling pattern C in the passage B. Further, FIG. 15 shows a light emitting portion having the highest display intensity at the passage points P1 to P4 when the course is changed in the traveling pattern C.

As shown in FIG. 13, in the passage A, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and also in the traveling direction. According to this, display control is performed on the display unit 24 so that the central portion of the front surface in the direction of the housing emits light with the strongest intensity. Further, when the calculation unit 22 performs drive control on the drive unit 23 so as to stop after moving to the passage point P2, the front central portion in the housing direction according to the traveling direction up to that point emits light with the strongest intensity. Display control for the display unit 24 is performed.

Then, the calculation unit 22 changes the housing direction of the autonomous mobile robot 12 by 90 ° by rotating clockwise. At this time, as the housing direction of the autonomous mobile robot 12 changes, the front central portion in the housing direction, which is in front of the traveling direction, remains emitting light at the strongest intensity. After that, the calculation unit 22 performs drive control on the drive unit 23 so as to restart the movement from the passage point P3 toward the front (0 °) in the housing direction, and drives the drive unit 22 to stop after moving to the passage point P4. Drive control is performed on the unit 23.

As shown in FIG. 14, in the passage B, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and also in the traveling direction. According to this, display control is performed on the display unit 24 so that the central portion of the front surface in the direction of the housing emits light with the strongest intensity. Further, when the calculation unit 22 performs drive control on the drive unit 23 so as to stop after moving to the passage point P2, the front central portion in the housing direction according to the traveling direction up to that point emits light with the strongest intensity. Display control for the display unit 24 is performed.

Then, the calculation unit 22 changes the housing direction of the autonomous mobile robot 12 by 135 ° by rotating clockwise. At this time, as the housing direction of the autonomous mobile robot 12 changes, the front central portion in the housing direction, which is in front of the traveling direction, remains emitting light at the strongest intensity. After that, the calculation unit 22 performs drive control on the drive unit 23 so as to restart the movement from the passage point P3 toward the front (0 °) in the housing direction, and drives the drive unit 22 to stop after moving to the passage point P4. Drive control is performed on the unit 23.

In this way, in the traveling pattern C, the traveling direction is expressed by the display unit 24 for presenting the course of the autonomous mobile robot 12 (the front central portion in the housing direction emits light with the strongest intensity) and is autonomous. The driving unit 23 for changing the course of the mobile robot 12 drives the direction change. At this time, as the autonomous mobile robot 12 changes direction, the direction of the front surface in the housing direction also changes, so that the display unit 24 for presenting the course of the autonomous mobile robot 12 changes the direction. No expression (for example, movement of the light emitting part that emits light at the strongest intensity) is performed. Therefore, in the traveling pattern C, in the autonomous mobile robot 12, the traveling direction is expressed in both the passage A and the passage B, but the direction change is not expressed, and the housing is changed according to the angle of the passage. Change direction and change course.

That is, in the traveling pattern C, the front of the autonomous mobile robot 12 in the housing direction is always the traveling direction. Therefore, as shown in FIG. 15A, the display unit 24 emits light at the center of the front surface in the housing direction. The part L3 is made to emit light at the highest intensity. Then, in the traveling pattern C, the front surface of the autonomous mobile robot 12 in the housing direction always faces the front in the traveling direction. Therefore, as shown in FIG. 15B, at any of the passage points P1 to P4. However, the light emitting unit L3 has the maximum display intensity.

FIG. 16 shows an example of a course change in the traveling pattern D in the passage A, and FIG. 17 shows an example of a course change in the traveling pattern D in the passage B. Further, FIG. 18 shows a light emitting portion having the highest display intensity at the passage points P1 to P4 when the course is changed in the traveling pattern D.

As shown in FIG. 16, in the passage A, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and also in the traveling direction. According to this, display control is performed on the display unit 24 so that the central portion of the front surface in the direction of the housing emits light with the strongest intensity. Further, the calculation unit 22 performs drive control on the drive unit 23 so as to stop after moving to the passage point P2, and then moves to the right (90 °) without changing the direction of the housing of the autonomous mobile robot 12. The display control is performed on the display unit 24 so as to move the light emission at the strongest intensity according to the change of the direction of travel.

Therefore, the display unit 24 is moved from the front center portion in the housing direction, and emits light at the strongest intensity in the right surface center portion in the housing direction according to the traveling direction. After that, the calculation unit 22 performs drive control on the drive unit 23 so as to restart the movement from the passage point P3 toward the right side (90 °) toward the housing, and stops after moving to the passage point P4. Drive control is performed on the drive unit 23.

As shown in FIG. 17, in the passage B, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and also in the traveling direction. According to this, display control is performed on the display unit 24 so that the central portion of the front surface in the direction of the housing emits light with the strongest intensity. Further, the calculation unit 22 performs drive control on the drive unit 23 so as to stop after moving to the passage point P2, and then right rearward (135 °) without changing the direction of the housing of the autonomous mobile robot 12. The display control is performed on the display unit 24 so as to move the light emission at the strongest intensity according to the change of the direction of travel.

Therefore, the display unit 24 is moved from the front center portion in the housing direction, and the right rear end portion in the housing direction according to the traveling direction is made to emit light with the strongest intensity. After that, the calculation unit 22 performs drive control on the drive unit 23 so as to restart the movement from the passage point P3 toward the right rear (135 °) in the housing direction, and stops after moving to the passage point P4. Drive control is performed on the drive unit 23.

As described above, in the traveling pattern D, the display unit 24 emits light at the front center portion of the autonomous mobile robot 12 in the housing direction at the strongest intensity to indicate the traveling direction, and then emits light at the strongest intensity. By moving, a change of direction in the direction of travel is presented. Further, the drive unit 23 does not change the direction of the autonomous mobile robot 12 in the housing direction. Therefore, in the traveling pattern D, the autonomous mobile robot 12 presents a traveling direction and a change of direction in both the passage A and the passage B, and keeps the housing direction in a certain direction so as to move in parallel. Change course.

That is, in the traveling pattern D, as shown in A of FIG. 18, the display unit 24 causes the light emitting unit L3 located at the center of the front surface in the housing direction to emit light at the maximum intensity according to the traveling direction at the start of traveling. Then, as the course changes, the display unit 24 causes the light emitting unit L15 located at the center of the right surface in the housing direction to emit light at the highest intensity in the passage A, and emits light at the right rear end portion in the housing direction in the passage B. The part L13 is made to emit light at the highest intensity.

Therefore, as shown in B of FIG. 18, the light emitting unit L3 has the maximum display intensity between the passage point P1 and the passage point P2. Then, between the passage point P2 and the passage point P3, in the passage A, the maximum display intensity is changed from the light emitting unit L3 toward the light emitting unit L15, and in the passage B, the display is displayed from the light emitting unit L3 toward the light emitting unit L13. Maximum strength is changed. After that, between the passage point P3 and the passage point P4, the light emitting unit L15 has the maximum display intensity in the passage A, and the light emitting unit L13 has the maximum display intensity in the passage B.

As described above, in the traveling pattern D, the housing direction of the autonomous mobile robot 12 is maintained at a constant direction as the course is changed, but the display unit 24 sets the front of the traveling direction as the maximum display intensity. The expression can appropriately present the course of the autonomous mobile robot 12. The change in the maximum display intensity between the passage point P2 and the passage point P3 is a curve as shown in the figure, and is also expressed as, for example, a linear change, a binary change, or a change that overshoots in the opposite direction. May be done.

FIG. 19 shows an example of a course change in the traveling pattern E in the passage B. Further, FIG. 20 shows a light emitting portion having the highest display intensity at the passage points P1 to P4 when the course is changed in the traveling pattern E.

As shown in FIG. 19, in the passage B, the calculation unit 22 performs drive control on the drive unit 23 so as to start moving from the passage point P1 toward the front (0 °) in the housing direction, and also in the traveling direction. According to this, display control is performed on the display unit 24 so that the central portion of the front surface in the direction of the housing emits light with the strongest intensity. Further, the calculation unit 22 performs drive control on the drive unit 23 so as to stop after moving to the passage point P2.

Then, the calculation unit 22 controls the drive unit 23 so as to change the housing direction of the autonomous mobile robot 12 by 45 ° by rotating clockwise, and the traveling direction is to the right (90 °) of the housing direction. Display control is performed on the display unit 24 so as to move the light emission at the strongest intensity according to the change of direction.

Therefore, the display unit 24 is moved from the front center portion in the housing direction, and emits light at the strongest intensity in the right surface center portion in the housing direction according to the traveling direction. After that, the calculation unit 22 performs drive control on the drive unit 23 so as to restart the movement from the passage point P3 toward the right side (90 °) toward the housing, and stops after moving to the passage point P4. Drive control is performed on the drive unit 23.

That is, in the traveling pattern E, as shown in A of FIG. 20, the display unit 24 causes the front center portion of the autonomous mobile robot 12 in the housing direction to emit light at the strongest intensity, so that the traveling direction is presented. By moving the light emission at the strongest intensity, the direction change of the traveling direction is presented. Therefore, as shown in B of FIG. 20, the light emitting unit L3 has the highest display intensity between the passage point P1 and the passage point P2, and the light emitting unit L3 to the light emitting unit L15 between the passage point P2 and the passage point P3. The maximum intensity displayed towards is changed. After that, between the passage point P3 and the passage point P4, the light emitting unit L15 has the maximum display intensity.

At this time, the traveling direction of the autonomous mobile robot 12 is changed by 135 °, but by changing the direction by driving so that the side surface direction of the housing matches the traveling direction, the autonomous mobile robot 12 is changed. All that is required is to turn the housing direction clockwise by 45 °. That is, by changing the direction of the housing by driving (45 °) and changing the direction of moving the light emission at the strongest intensity (90 °), the direction of the path of the autonomous mobile robot 12 is changed (135 °). ) Can be presented.

That is, the traveling pattern E is an extension of the movement expression in the traveling pattern D. That is, in the traveling pattern D, in the case of the passage B, the direction of the side surface of the housing of the autonomous mobile robot 12 and the direction of the passage do not match, so that the direction of the housing may be indicated depending on the expression. It is assumed that the disagreement will give a sense of discomfort to the surrounding people. Therefore, in the traveling pattern E, the drive unit 23 performs the minimum direction change in which the direction of the housing of the autonomous mobile robot 12 and the direction of the passage match, and the remaining direction change is supplemented by the expression by the display unit 24. Can be done.

In this way, if the drive control and the display control that match the side surface of the housing and the traveling direction are generalized, when the housing of the autonomous mobile robot 12 is a regular polygon (n-sided polygon), the rotation angle a of the course change a. On the other hand, the rotation angle G of the housing and the rotation angle D of the expression are expressed by the following equation (1).

In the running pattern E as well, the rotation expression by the expression is a curve as shown in FIG. 20, as in the running pattern D, and for example, a linear change, a binary change, a change overshooting in the opposite direction, and the like. May be expressed as.

<Display strength calculation method>
A calculation method in which the calculation unit 22 calculates the display intensity in the display unit 24 will be described with reference to FIGS. 21 and 22.

A method of calculating the display intensity based on the one-dimensional vector will be described with reference to FIG.

In FIG. 21, as shown in FIG. 8, the arrangement positions of the 16 light emitting units L1 to L16 arranged along the circumferential direction on the outer periphery of the housing of the autonomous mobile robot 12 are developed in a straight line. An example is shown in which the intensity of another light emitting unit is calculated based on the distance from the light emitting unit having a high display intensity. That is, when the display intensity of the light emitting unit L3 arranged at the center of the front surface of the autonomous mobile robot 12 is maximized, the display intensity up to the light emitting unit L11 arranged at the opposite pole to the light emitting unit L3 is light emission. It is represented by a gentle curve that descends according to the distance from the part L3.

The curve as shown in FIG. 21 may be adjusted according to the characteristics of the LEDs and displays constituting the display unit 24, or the display intensity may be changed linearly.

A method of calculating the display intensity based on the distance in the two-dimensional plane will be described with reference to FIG.

FIG. 22A shows an example of a traveling direction vector defined with respect to the center of the housing of the autonomous mobile robot 12. In B of FIG. 22, a virtual center point B on the side surface of the housing located in the traveling direction from the center of the autonomous mobile robot 12 and a radius r centered on the virtual center point B are virtually generated. An example of a virtual circle is shown. FIG. 22C shows an example of the display unit 24 represented by the display intensity based on the virtual circle.

That is, when the traveling direction vector is defined as shown in A of FIG. 22, the intersection of the traveling direction vector and the side surface of the housing of the autonomous mobile robot 12 is set as the virtual center point B. Then, for a virtual circle having a radius r centered on the virtual center point B, the display strength is based on the distance of the two-dimensional plane so that the center of the virtual circle has the highest strength and the strength decreases toward the outer circumference of the virtual circle. Is calculated.

For example, as shown in B of FIG. 22, the light emitting portion L4 including the virtual center point B has the highest intensity, and the closer to the light emitting portion L4, the higher the display intensity. As a result, as shown in C of FIG. 22, the traveling direction is expressed on the display unit 24 with a gradation such that the display intensity becomes darker as the display intensity increases and the display intensity becomes lighter as the display intensity decreases.

As described with reference to FIG. 22, for example, in the configuration in which the display is adopted in the display unit 24C as shown in FIG. 4C, a sphere centered on the virtual center point B is used. It is also possible to express by display intensity based on a three-dimensional distance.

<Display variation>
A variation of display in the traveling direction by the display unit 24 will be described with reference to FIGS. 23 to 28.

In FIG. 23, the display unit 24 having a configuration in which a plurality of LEDs arranged in a line shape is used to display the front side (light emitting unit L3) in the housing direction, which is the traveling direction when the autonomous mobile robot 12 is viewed from above. Variations that express the course are shown when the maximum strength is used. In the configuration in which the display is adopted in the display unit 24C as shown in C of FIG. 4, a three-dimensional expression may be used.

For example, as the setting of the bright spots for the display unit 24, one bright spot is set for the entire side surface of the display unit 24, one bright spot is set for each surface of the side surface of the display unit 24, or the display unit 24 is set. It is possible to set a plurality of bright spots in the plane of the side surface of. In addition, the display unit 24 can express the course by the range, the shade / brightness, the hue, and the blinking. It is considered to use various variations as shown in FIG. 23 depending on the combination of what kind of course expression is selected for such setting of bright spots. Moreover, only one expression of a course may be selected, or a plurality of may be selected and multiplied.

In a configuration in which the display unit 24 is provided with a display on the top surface of the autonomous mobile robot 12 or a projector as shown in FIG. 4B, an arrow is displayed or a route or a process is displayed. You may. Further, for example, an illustration of the eyes may be displayed so as to direct the line of sight toward the traveling direction.

Further, in the example of the variation shown in FIG. 23, the same expression method is used in all directions, but for example, display contents different from those of other surfaces or other areas are assigned only to each surface or a specific area. You may. That is, when a person walks from behind the autonomous mobile robot 12, the display for that person is assigned to only one surface to express the traveling direction and the progress of the process, and the other surfaces are the same. Since it is invisible to the person, it is possible to present the course more efficiently by assigning it to the display for other people around.

The representation localized in space will be described with reference to FIGS. 24 and 25. For example, by shifting the expression in the opposite direction at the same speed as the moving speed of the autonomous mobile robot 12, it is possible to express that the image is localized in space.

FIG. 24 shows an example in which the display unit 24 displays the image as if the image is localized in the space when the autonomous mobile robot 12 is moving straight.

As shown from the upper side to the lower side of FIG. 24, when the autonomous mobile robot 12 is moving to the right at a moving speed v, the display unit 24 moves to the left at a transition speed v1. Display as if. That is, the transition speed v1 by the display unit 24 is expressed as shown in the following equation (2) by using the movement speed v of the autonomous mobile robot 12.

FIG. 25 shows an example in which the display unit 24 displays the image as if the image is localized in the space when the autonomous mobile robot 12 is turning.

As shown from the upper side to the lower side of FIG. 25, when the autonomous mobile robot 12 is turning at an angular velocity ω by rotating clockwise, the display unit 24 moves at a transition speed v2 by rotating counterclockwise. Display. That is, the transition speed v2 by the display unit 24 is the distance r from the turning center to the current bright point on the display unit 24, and the difference angle θ (minimum value 0 °) from the vertical direction of the current bright point on the display unit 24. , Maximum value 45 °) is expressed as shown in the following equation (3).

FIG. 26 shows an example of projecting a particle representation in space onto a two-dimensional plane.

As shown in FIG. 26A, a particle representation is created by transitioning random noise in a certain direction from a certain starting point in front of the traveling direction of the autonomous mobile robot 12. Then, as shown in B of FIG. 26, the part corresponding to the particles is projected by the display unit 24 so that the particles are projected on the portion intersecting the outer circumference when the housing of the autonomous mobile robot 12 is viewed from above. It can be expressed by making the light emitting part of the above emit light.

For example, the starting point of the particles may be changed according to the traveling direction of the autonomous mobile robot 12, or the amount of particles or the speed of the particles may be changed according to the speed of the autonomous mobile robot 12. In the configuration in which the display is adopted as the display unit 24C as shown in C of FIG. 4, the radiation of particles can be simulated and expressed on a three-dimensional plane.

FIG. 27 shows an example of the development of ripples.

For example, as shown in A of FIG. 27, a representation in which ripples dynamically spread in two dimensions is simulated. Then, as shown in B of FIG. 27, the portion corresponding to the ripple is projected by the display unit 24 so that the ripple is projected on the portion intersecting the outer circumference when the housing of the autonomous mobile robot 12 is viewed from above. It can be expressed by making the light emitting part of the above emit light.

Further, there may be a plurality of ripples, and there may be a plurality of places where ripples occur. Such a ripple expression can be applied not only to emphasize the direction of travel, but also as a response to communication with surrounding people and a method of drawing attention to surrounding people. In the configuration in which the display is adopted for the display unit 24C as shown in C of FIG. 4, the dynamic spread of ripples can be simulated and expressed on a three-dimensional plane.

The expression shown in FIG. 26 or 27 may represent the speed of movement by periodically moving as a time function. For example, in the case of a group of figures such as the particles shown in FIG. 26, the speed of movement can be expressed by the traveling speed and falling speed of the particles, and in the case of ripples as shown in FIG. 27, the speed can be expressed. The speed of movement can be expressed by the speed at which the ripples spread.

FIG. 28 shows an example of a contraction image of a virtual circle.

For example, as shown in FIG. 28A, a virtual circle is placed at the center of the autonomous mobile robot 12 and the radius is periodically expanded or contracted (the left side is enlarged / the right side is reduced) to simulate the expression. Then, as shown in B of FIG. 28, the portion corresponding to the circle by the display unit 24 so that the circle is projected on the portion intersecting the outer circumference when the housing of the autonomous mobile robot 12 is viewed from above. It can be expressed by making the light emitting part of the above emit light.

Further, as parameters for determining a virtual circle, the radius of the circle, each period of expansion / contraction, the curve of expansion / contraction, the gradation from the center of the circle to the outer circumference, the coordinates of the center of the circle, and the like are used. Then, by adjusting these parameters, the traveling direction and its speed can be expressed. For example, by accelerating the contraction cycle, it is possible to express that breathing is fast, and by moving it in a slow cycle, it is possible to express that the movement is slow. In addition, by accelerating the contraction while moving the center of the circle toward the edge, it can be expressed so as to draw attention to that direction.

<Reproduce the preliminary operation on the display system>
An example of reproducing the preliminary operation by the display system will be described with reference to FIGS. 29 to 38.

For example, in the above description, the course is presented based on the traveling direction and speed of the autonomous mobile robot 12, but the presentation of the course does not reflect the movement of the autonomous mobile robot 12 that is about to move. .. Therefore, by presenting the next movement of the autonomous mobile robot 12 in advance, it is possible to further improve the sense of security for the surrounding persons. It should be noted that this expression may be switched between the front-only expression and the all-around expression according to the position of the surrounding person, or may be switched to the expression as described above according to the distance to the surrounding person. ..

With reference to FIGS. 29 to 31, display control using a travel vector in the travel pattern D will be described as an example of a method of expressing the speed of the autonomous mobile robot 12.

For example, as shown in the upper part of FIG. 29, when stopped at the passage point P1, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion of each is the strongest. conduct. Then, as shown in the middle part of FIG. 29, when the movement is started and the robot is accelerating from the passage point P1, the display unit 24 has the strongest strength at the front center portion of the autonomous mobile robot 12 according to the travel vector. In addition to controlling the display, the strongest strength on both sides moves to the front side, reducing the strength of the rear surface. Further, when moving at a constant speed as shown in the lower part of FIG. 29 and when decelerating as shown in the upper part of FIG. 30, the display unit 24 displays the same display as during acceleration according to the traveling vector. conduct.

Then, as shown in the middle part of FIG. 30, when stopped at the passage point P2, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion thereof has the strongest strength. conduct. Hereinafter, similarly, during acceleration as shown in the lower part of FIG. 30, constant speed as shown in the upper part of FIG. 31, and deceleration as shown in the middle part of FIG. 31, the display unit 24 displays according to the traveling vector. I do. After that, as shown in the lower part of FIG. 31, when stopped at the passage point P4, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion thereof has the strongest strength.

With reference to FIGS. 32 to 34, display control using an acceleration vector in the traveling pattern D will be described as an example of a method of expressing the speed of the autonomous mobile robot 12.

For example, as shown in the upper part of FIG. 32, when the robot is stopped at the passage point P1, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion thereof has the strongest strength. conduct. Then, as shown in the middle part of FIG. 32, when the movement is started and the robot is accelerating from the passage point P1, the display unit 24 has the strongest strength in the front center portion of the autonomous mobile robot 12 according to the acceleration vector. In addition to controlling the display, the strongest strength on both sides moves to the front side, reducing the strength of the rear surface.

After that, when the autonomous mobile robot 12 moves at a constant speed, as shown in the lower part of FIG. 32, the display unit 24 has four sides of the autonomous mobile robot 12 according to the acceleration vector, and the central portion of each is the strongest. Display control is performed so that the strength is high. Then, when decelerating before the passage point P2, as shown in the upper part of FIG. 33, the display unit 24 controls the display so that the central portion of the rear surface of the autonomous mobile robot 12 has the strongest intensity according to the acceleration vector. At the same time, the strongest strength on both side surfaces moves to the rear side, and the strength of the front surface is reduced.

Then, as shown in the middle part of FIG. 33, when stopped at the passage point P2, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion of each is the strongest. conduct. Hereinafter, similarly, during acceleration as shown in the lower part of FIG. 33, constant speed as shown in the upper part of FIG. 34, and deceleration as shown in the middle part of FIG. 34, the display unit 24 displays according to the acceleration vector. I do. After that, as shown in the lower part of FIG. 34, when the robot stops at the passage point P4, the display unit 24 controls the display on the four side surfaces of the autonomous mobile robot 12 so that the central portion thereof has the strongest strength.

In this way, the autonomous mobile robot 12 can develop the expression in the direction opposite to the traveling direction at the time of deceleration by performing the display control according to the acceleration vector, and the autonomous mobile robot 12 stops. Can be expressed in advance.

By the way, even if the acceleration vector is used in this way, for example, when the autonomous mobile robot 12 bends in a curve or at a right angle, its course cannot be expressed in advance. Therefore, when the traveling route is known in advance, it is preferable to inform the surroundings of the preliminary operation by displaying in advance the direction of the next turn instead of the current traveling direction.

For example, FIG. 35 shows an example of display control that expresses a preliminary motion in the traveling pattern C, and FIG. 36 shows an example of a display control that expresses a preliminary motion in the traveling pattern D.

For example, in the traveling pattern C, since the housing of the autonomous mobile robot 12 always faces the traveling direction, the display system may always be fixed forward, but as shown in FIG. 35, before turning to the left in a curved line. In addition, it is preferable to perform display control such that once the maximum intensity is moved from the central portion to the left side and then returned to the central portion before the turning is completed.

Further, in the traveling pattern D, since the housing of the autonomous mobile robot 12 does not rotate in principle, the rotation is expressed only by the display system. Therefore, as shown in FIG. 36, by turning to the left in advance before turning to the left and already turning to that direction when switching the traveling direction, the surrounding person can determine the direction in which the autonomous mobile robot 12 advances next. , The autonomous mobile robot 12 can be grasped before it actually moves.

Further, in addition to the preliminary motion expression as described with reference to FIGS. 35 and 36, for example, the preliminary motion expression may be applied in a non-moving standby state.

For example, as shown in FIGS. 37 and 38, in the passage A, by presenting the traveling direction when the vehicle is physically stopped at the passage point P1, the course is presented in advance before the start of traveling. can do. In addition, it is possible to express the next direction of travel by turning the direction of travel while the vehicle is stopped at the passage point P2.

In addition, even after stopping at the passage point P4, if there is something that you want to pay attention to, the display unit 24 has the strongest strength at the center of the four sides of the autonomous mobile robot 12 as in the standby state. Instead of controlling the display so as to be, the display control may be performed so that the central portion of the front surface of the autonomous mobile robot 12 has the strongest strength as in the case of traveling.

<Display method when linking multiple units>
A display method when a plurality of units are linked will be described with reference to FIGS. 39 and 40.

FIG. 39 shows an example of presenting a course when two autonomous mobile robots 12-1 and 12-2 move in cooperation with each other, and FIG. 40 shows four autonomous mobile robots. An example is shown in which 12-1 to 12-4 present a course when they move in cooperation with each other.

For example, a plurality of autonomous mobile robots 12 can move cooperatively as a larger autonomous mobile robot by physically connecting to each other. Further, when the autonomous mobile robot 12 is equipped with a proximity sensor, it is possible to coordinately move as a larger autonomous mobile robot without making a physical connection.

In this way, when a plurality of autonomous mobile robots 12 move in cooperation with each other, the course is presented in the same manner as the presentation method in which one autonomous mobile robot 12 presents a course as described above. Can be done. At that time, the side surfaces of the autonomous mobile robots 12 in contact with each other can be turned off as shown in FIGS. 39 and 40 because they cannot be seen from the surroundings. Further, as shown in FIGS. 39 and 40, the portions where the side surfaces of the autonomous mobile robots 12 are continuous can be supplemented so as to be continuous with each other.

When the autonomous mobile robot 12 has a built-in illuminance sensor and a camera, the autonomous mobile robots 12 use light on the side where the autonomous mobile robots 12 are in contact with each other, that is, the side where the lights are turned off. It can be used for communication.

As described above, the various path presentation methods described above can be applied not only to one autonomous mobile robot 12 but also to a plurality of autonomous mobile robots 12 moving in cooperation with each other.

<Synchronous / asynchronous processing>
As described above, it is possible to show the surrounding persons that the respective autonomous mobile robots 12 are cooperating without having to move the plurality of autonomous mobile robots 12 as one autonomous mobile robot. .. Specifically, by matching the timing of expressions such as blinking, ripples, spatial localization, and particles that change with time, even if a plurality of autonomous mobile robots 12 are physically separated from the surrounding people, they are synchronized. You can notify that you are. Further, by intentionally not synchronizing, it is possible to present that the robot 12 moves differently from the other plurality of autonomous mobile robots 12.

<Learning of driving patterns and individual profiling>
For example, the adaptation between the traveling mode and the traveling pattern as shown in FIG. 6 may be optimized according to the skill level of the surrounding persons. For example, if it is judged that the housing of the autonomous mobile robot 12 does not need to be turned based on the contact time with a specific person or the behavior of the person, such as when it is seen once, it is considered that the robot is grasped during the action. Only the traveling patterns D and E may be adopted without adopting the patterns B and C.

Further, when it is judged that the proficiency level is still slow, such as a child or an elderly person, the running patterns D and E may not be adopted, and the running may be performed only with other running patterns. If the direction and line of sight of the person's face can be detected, the display may be performed only when the person is looking at the autonomous mobile robot 12.

<Application to other than omnidirectional mobile robots>
In addition to the configuration that employs the Mecanum wheel 72 that can move in all directions as shown in FIG. 3, the presentation of the course as described above includes a movement mechanism that cannot make a pivot turn or lateral movement, and moves in all directions. It can be partially applied to a configuration that employs a movement mechanism that cannot be used.

For example, in a configuration in which a display unit 24 is attached to the outer circumference of an autonomous mobile robot 12 that moves in the same manner as a conventional automobile, a curve having a high curvature is used instead of a pivot turn, so that the traveling pattern B and the traveling pattern B shown in FIG. C can be applied. Further, in this configuration, although the traveling pattern D cannot be applied at all, the above-mentioned course can be applied within the movement restrictions of the autonomous mobile robot 12, such as being able to apply an expression that changes the traveling direction by 180 ° when reversing. The presentation may be applied.

<Attention expression using voice output>
For example, the presentation of the course as described above is mainly used as a notification to the surrounding person and other autonomous mobile robot 12, but it is assumed that there is a situation in which the surrounding person does not notice the existence of the autonomous mobile robot 12. Will be done. In such a situation, the autonomous mobile robot 12 itself outputs voice from a speaker arranged in the environment in which the autonomous mobile robot 12 is used or a wearable device worn by a surrounding person. It is possible to make people around you aware of the existence of.

For example, whether or not a surrounding person is aware of the autonomous mobile robot 12 is determined, for example, by being incorporated in the RGB camera 32 (FIG. 2) of the autonomous mobile robot 12, the sensor module 14 of FIG. 1, and the wearable device. This can be done based on the direction of the person's face and the direction of the line of sight, depending on the camera or the like. Then, when it is determined that the autonomous mobile robot 12 is not within the field of view of the surrounding person, or when the robot 12 is making a movement that may collide with the autonomous mobile robot 12 based on the position information of the surrounding person. , It is possible to express attention using voice output.

<Change in display content intensity according to people and ambient light>
For example, depending on the environment of the autonomous mobile robot 12, it is assumed that the display of the display unit 24 becomes difficult to see. Therefore, for example, when the illuminance of the environment of the autonomous mobile robot 12 is high, the peak brightness of the display, the LED array, the projector, etc. constituting the display unit 24 may be increased according to the illuminance of the environment.

Further, even if the surrounding person is in the same space as the autonomous mobile robot 12, it is assumed that it is difficult for the surrounding person to notice the autonomous mobile robot 12 depending on the distance and the viewing angle from the autonomous mobile robot 12. NS. Therefore, for example, when the distance from the autonomous mobile robot 12 is far, or when the viewing angle is out of the viewing angle, the peak brightness of the display unit 24 may be increased. Alternatively, if the autonomous mobile robot 12 is easy to see because it is short, such as a child, or if there is a person who is sensitive to light, the peak brightness of the display unit 24 may be lowered. good.

Further, when the autonomous mobile robot 12 turns, when the expression as described with reference to FIG. 6 is used, if a surrounding person is in the vicinity of the autonomous mobile robot 12, the surrounding person is autonomous. By determining whether the mobile robot 12 is aware of it or whether it knows the autonomous mobile robot 12, eye contact with the surrounding person may be prioritized over the turning expression.

<Expression method in case of emergency or bad environment>
For example, when there is a danger that a surrounding person may come into contact with the autonomous mobile robot 12, not only the brightness of the display unit 24 may be maximized, but also a speaker or the like may be used for notification. Further, the autonomous mobile robot 12 may intentionally make the driving sound louder and notice it by performing the spin turn at high speed. Further, when it is difficult for the sensor of the autonomous mobile robot 12 to detect whether or not there is a person in the vicinity, such as when the environment is extremely bright, the display unit 24 may be used to display the robot on the safe side.

In addition, when it is desired to notify the surroundings of an abnormality such as a failure or immobility of the autonomous mobile robot 12 or a battery status, it can be displayed at the maximum brightness as described above. Further, when it is urgent even in a situation where a person is in the surroundings, among the traveling patterns described with reference to FIG. 6, the mode of parallel movement such as traveling patterns A and D may be forcibly switched.

Further, in an environment where the traveling passage of the autonomous mobile robot 12 is narrow and it is difficult to recognize from surrounding people, the surroundings of the autonomous mobile robot 12 can be adjusted by adjusting the angle of the display unit 24 such as a projector or an LED array. Instead, the expression can be expanded in a wide range. At this time, the autonomous mobile robot 12 may change the expression to a more noticeable expression, or if the environmental illuminance is low and the environment is not good for the surrounding people, the display unit 24 may be illuminated by illuminating the feet of the surrounding people. It may be used for safety assistance.

As described above, the autonomous mobile robot 12 is provided with the display unit 24 in all directions regardless of the direction of travel, so that the surrounding person can grasp the movement of the autonomous mobile robot 12 from any direction. can. In addition, since the surrounding person can predict the movement of the autonomous mobile robot 12 in advance, it is possible to give a sense of security to the surrounding person and reduce the initial learning cost of the user of the autonomous mobile robot 12. Can be done.

Further, the autonomous mobile robot 12 can optimize the movement cost of a battery or the like and utilize the mechanism of the autonomous mobile robot 12 by using the optimum movement method in a place where there is no person around. Further, the autonomous mobile robot 12 does not need to physically change the direction by indicating the direction change by the display system even in a place where a person is around, and can improve the responsiveness and optimize the movement. ..

In particular, when the autonomous mobile robot 12 has an operation content that follows a surrounding person, the front in the traveling direction coincides with the front surface of the housing of the autonomous mobile robot 12, as in a conventional automobile or the like. By driving in such a way, it is possible to give a feeling of security to the surrounding people. Further, the same expression method can be used when moving in cooperation with a plurality of autonomous mobile robots 12.

Here, the series of processes described above can be performed by hardware or software. When a series of processes is performed by software, the programs constituting the software are installed on a general-purpose computer or the like.

Here, in the present specification, the processing performed by the computer according to the program does not necessarily have to be performed in chronological order in the order described as the flowchart. That is, the processing performed by the computer according to the program also includes processing executed in parallel or individually (for example, parallel processing or processing by an object).

Further, the program may be processed by one computer (processor) or may be distributed processed by a plurality of computers. Further, the program may be transferred to a distant computer and executed.

Further, in the present specification, the system means a set of a plurality of components (devices, modules (parts), etc.), and it does not matter whether or not all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a device in which a plurality of modules are housed in one housing are both systems. ..

Further, for example, the configuration described as one device (or processing unit) may be divided and configured as a plurality of devices (or processing units). On the contrary, the configurations described above as a plurality of devices (or processing units) may be collectively configured as one device (or processing unit). Further, of course, a configuration other than the above may be added to the configuration of each device (or each processing unit). Further, if the configuration and operation of the entire system are substantially the same, a part of the configuration of one device (or processing unit) may be included in the configuration of another device (or other processing unit). ..

Further, for example, the present technology can have a cloud computing configuration in which one function is shared and jointly processed by a plurality of devices via a network.

Further, for example, the above-mentioned program can be executed in any device. In that case, the device may have necessary functions (functional blocks, etc.) so that necessary information can be obtained.

Further, for example, each step described in the above-mentioned flowchart can be executed by one device or can be shared and executed by a plurality of devices. Further, when a plurality of processes are included in one step, the plurality of processes included in the one step can be executed by one device or shared by a plurality of devices. In other words, a plurality of processes included in one step can be executed as processes of a plurality of steps. On the contrary, the processes described as a plurality of steps can be collectively executed as one step.

In the program executed by the computer, the processing of the steps for describing the program may be executed in chronological order in the order described in this specification, or may be executed in parallel or called. It may be executed individually at a necessary timing such as time. That is, as long as there is no contradiction, the processing of each step may be executed in an order different from the above-mentioned order. Further, the processing of the step for writing this program may be executed in parallel with the processing of another program, or may be executed in combination with the processing of another program.

It should be noted that the present techniques described in the present specification can be independently implemented independently as long as there is no contradiction. Of course, any plurality of the present technologies can be used in combination. For example, some or all of the techniques described in any of the embodiments may be combined with some or all of the techniques described in other embodiments. It is also possible to carry out a part or all of any of the above-mentioned techniques in combination with other techniques not described above.

<Example of configuration combination>
The present technology can also have the following configurations.
(1)
A relationship determination unit that determines the relationship with surrounding people around the moving object,
A setting for setting a traveling mode in which a process performed by a driving unit that moves the moving body and a process performed by an output unit that outputs an expression presenting the course of the moving body are associated with each other based on the degree of relationship. A mobile control device that includes a unit.
(2)
When moving with the surrounding person, the setting unit sets a traveling mode in which the driving unit changes the direction of the housing of the moving body to travel when the course is changed. The mobile control device described.
(3)
The moving body control device according to (2) above, wherein the output unit presents the traveling direction of the moving body, but does not express the direction of the moving body.
(4)
The mobile control device according to (2) above, wherein the output unit does not present the traveling direction of the moving body and does not express the direction of the moving body.
(5)
The setting unit does not move together with the surrounding person, but when there is a visible surrounding person, the output unit presents the traveling direction of the moving body and the moving body changes its course. The mobile control device according to (1) above, wherein the output unit changes the direction of travel to set a traveling mode.
(6)
The moving body control device according to (5) above, wherein the driving unit moves while maintaining the housing of the moving body in a certain direction when the moving body changes its course.
(7)
The moving body control device according to (5) above, wherein the driving unit changes the direction of the housing of the moving body when the moving body changes its course.
(8)
The setting unit does not move with the surrounding person, and when there is no visible surrounding person, the output unit expresses the traveling direction and the direction change for presenting the course of the moving body. The moving body control device according to (1) above, which sets a traveling mode in which the moving body travels without changing the direction of the housing of the moving body by the driving unit.
(9)
The mobile control device according to any one of (1) to (8) above, wherein the output unit is composed of a display unit that displays over the entire side surface of the housing of the mobile body.
(10)
The mobile control device that controls the movement of the mobile
Determining the degree of relationship with the person around the moving body
Based on the degree of relationship, a traveling mode is set in which the processing performed by the driving unit that moves the moving body and the processing performed by the output unit that outputs an expression that presents the course of the moving body are associated with each other. Mobile control methods including and.
(11)
To the computer of the mobile control device that controls the movement of the mobile
Determining the degree of relationship with the person around the moving body
Based on the degree of relationship, a traveling mode is set in which the processing performed by the driving unit that moves the moving body and the processing performed by the output unit that outputs an expression that presents the course of the moving body are associated with each other. A program for executing mobile control including and.

The present embodiment is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present disclosure. Further, the effects described in the present specification are merely examples and are not limited, and other effects may be obtained.

11 Mobile control system, 12 Autonomous mobile robot, 13 Processing device, 14 Sensor module, 21 Input unit, 22 Calculation unit, 23 Drive unit, 24 Display unit, 31 Laser ranging device, 32 RGB camera, 33 Stereo camera, 34 Inertial measurement unit, 41 CPU, 42 GPU, 43 Auxiliary storage device, 44 Storage device, 51 Motor control circuit, 52 Drive motor, 53 Encoder, 61 Output device, 71 Housing, 72 Mecanum wheel

Claims (11)

A relationship determination unit that determines the relationship with surrounding people around the moving object,
A setting for setting a traveling mode in which a process performed by a driving unit that moves the moving body and a process performed by an output unit that outputs an expression presenting the course of the moving body are associated with each other based on the degree of relationship. A mobile control device that includes a unit. The setting unit according to claim 1, wherein when moving together with the surrounding person, the driving unit changes the direction of the housing of the moving body to set a traveling mode in which the vehicle travels when the course is changed. Mobile control device. The mobile control device according to claim 2, wherein the output unit presents the traveling direction of the moving body, but does not express the direction of the moving body. The mobile control device according to claim 2, wherein the output unit does not present the traveling direction of the moving body and does not express the direction of the moving body. The setting unit does not move together with the surrounding person, but when there is a visible surrounding person, the output unit presents the traveling direction of the moving body and the moving body changes its course. The mobile control device according to claim 1, wherein the output unit changes the direction of travel to set a traveling mode for traveling. The moving body control device according to claim 5, wherein the driving unit moves while maintaining the housing of the moving body in a certain direction when the moving body changes its course. The mobile control device according to claim 5, wherein the drive unit changes the direction of the housing of the mobile when the mobile changes its course. The setting unit does not move with the surrounding person, and when there is no visible surrounding person, the output unit expresses the traveling direction and the direction change for presenting the course of the moving body. The mobile body control device according to claim 1, wherein a traveling mode is set for traveling without changing the direction of the housing of the moving body by the driving unit. The mobile control device according to claim 1, wherein the output unit includes a display unit that displays a display over the entire side surface of the housing of the mobile body. The mobile control device that controls the movement of the mobile
Determining the degree of relationship with the person around the moving body
Based on the degree of relationship, a traveling mode is set in which the processing performed by the driving unit that moves the moving body and the processing performed by the output unit that outputs an expression that presents the course of the moving body are associated with each other. Mobile control methods including and. To the computer of the mobile control device that controls the movement of the mobile
Determining the degree of relationship with the person around the moving body
Based on the degree of relationship, a traveling mode is set in which the processing performed by the driving unit that moves the moving body and the processing performed by the output unit that outputs an expression that presents the course of the moving body are associated with each other. A program for executing mobile control including and.

Images